#ifndef __IMUCAILBRATION_H
#define __IMUCAILBRATION_H
#include "sys.h"  
#include "arm_math.h"
#include "structconfig.h"

void Calibrate_Reset_Matrices(float dS[6], float JS[6][6]);
void Calibrate_Find_Delta(float dS[6], float JS[6][6], float delta[6]);
void Calibrate_Update_Matrices(float dS[6], float JS[6][6],float beta[6],float data[3]);
u8 Calibrate_accel(FLOAT_XYZ accel_sample[6],FLOAT_XYZ *accel_offsets,FLOAT_XYZ *accel_scale);

#endif
